CN110177958A - Wave gear device - Google Patents
Wave gear device Download PDFInfo
- Publication number
- CN110177958A CN110177958A CN201780083245.7A CN201780083245A CN110177958A CN 110177958 A CN110177958 A CN 110177958A CN 201780083245 A CN201780083245 A CN 201780083245A CN 110177958 A CN110177958 A CN 110177958A
- Authority
- CN
- China
- Prior art keywords
- gear
- tooth
- external tooth
- internal
- external
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000012141 concentrate Substances 0.000 abstract description 6
- 210000000515 tooth Anatomy 0.000 description 226
- 238000010586 diagram Methods 0.000 description 16
- 230000002093 peripheral effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006880 cross-coupling reaction Methods 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Gears, Cams (AREA)
Abstract
The wavegenerator (4) of Wave gear device (1) bends external tooth gear (3) in the radial direction and is formed at the isolated position on its circumferencial direction and the engaging portion (5) relative to internal-gear (2).When wavegenerator (4) rotation, engaging portion (5) are moved in a circumferential direction.Non- mesh regional (6) are formed in a part of the trace direction of engaging portion (5).Non- mesh regional (6) is the region of the defined width including the support center (45) comprising fluctuation bearing (44) in trace direction.It enables to the stress caused by the bottom of the tooth of external tooth gear (3) to concentrate to mitigate, so as to improve its bottom of the tooth fatigue strength.
Description
Technical field
The present invention relates to Wave gear devices.More specifically, it is related to so that being produced in the bottom of the tooth of external tooth gear flexible
Raw stress concentrates the Wave gear device for mitigating and improving bottom of the tooth fatigue strength.
Background technique
In Wave gear device, by the external tooth gear flexible (flexspline) that bends repeatedly in the radial direction with
Engaging portion between the internal-gear (circularspline) of rigidity carries out torque transmitting.As external tooth gear, it is known that
The external tooth gear of the external tooth gear of cup-shaped, the external tooth gear of carnival hat shape and cylindrical shape.No matter under what circumstances, improving soft
The bottom of the tooth fatigue strength of the external tooth gear of property is all related to the raising of the performance of Wave gear device.For example, in patent document 1
In, by improving wavegenerator to the rigidity of support of external tooth gear, so that the contact force distribution of the external tooth on facewidth direction
Homogenization is realized, to improve the bottom of the tooth fatigue strength of external tooth gear.In patent document 2, scratching according to external tooth gear
The thickness of bottom of the tooth wheel rim appropriate is measured and set to song, the bottom of the tooth fatigue strength of external tooth gear is which thereby enhanced, to realize wave
The high intensity of movable tooth wheel apparatus.
Citation
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2016-196895 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2010-190373 bulletin
Summary of the invention
In the bottom of the tooth of external tooth gear, effect have because caused by being engaged with internal-gear stress and because deflect into it is non-circular,
Such as bending stress caused by ellipse.If being conceived to an external tooth, the power on the radial direction of the external tooth is acted on
The power correspondingly generated when including: tooth engagement with pressure angle；And in order to from the inside of radial direction maintain elliptical shape and from
The power of the fluctuation bearing effect of wavegenerator.
The purpose of the present invention is to provide enable to stress caused by the bottom of the tooth in external tooth gear concentrate mitigate with
Just the Wave gear device of the bottom of the tooth fatigue strength of external tooth gear is improved.
Wave gear device of the invention includes
The internal-gear of rigidity；
External tooth gear flexible；
Wavegenerator bends external tooth gear and the isolated position on its circumferencial direction in the radial direction
Place is formed with the engaging portion relative to internal-gear, and the engaging portion is moved in a circumferential direction；And
Non- mesh regional is formed in relative to the engaging portion of internal-gear one in its trace direction in external tooth gear
Part；
Internal-gear and external tooth gear be straight spur gear respectively or be tooth trace be respectively a kind of helical gear,
Wavegenerator has the fluctuation bearing being supported from the inside of radial direction to external tooth gear,
Non- mesh regional is wide to the regulation including the support center of external tooth gear comprising fluctuation bearing in trace direction
The region of degree.
Tooth trace in engaging portion of the external tooth gear relative to internal-gear, including the support center comprising fluctuating bearing
The center portion in direction is formed with non-mesh regional.The power on radial direction generated by the engagement of tooth does not act on from fluctuation
The center portion of the trace direction of the maximum external tooth of power on the radial direction of bearing effect.Enable to the bottom of the tooth in external tooth
The stress that the center portion of trace direction generates, which is concentrated, to be mitigated, therefore can be improved bottom of the tooth fatigue strength.
Specifically, to the central portion of the trace direction including the support center comprising fluctuation bearing in internal tooth or external tooth
Divide and implements to cut end processing.Alternatively, the supercentral external tooth of support of fluctuation bearing or the part of internal tooth will be located in trace direction
On removed with defined width, to form the part of not formed external tooth or internal tooth.
The center portion of the trace direction of the not formed external tooth of external tooth gear can be set as certain thickness cylindrical portions.
The stress concentration of the center portion of the trace direction of external tooth is further mitigated as a result,.
As above, in Wave gear device of the invention, in the bottom of the tooth institute of the center portion of the trace direction of external tooth gear
The stress concentration of generation is mitigated.Therefore, it can be improved the bottom of the tooth fatigue strength of external tooth gear, so as to improve fluctuation tooth
The performance of wheel apparatus.
Detailed description of the invention
Fig. 1 (A) is the solid of an example of the cup type Wave gear device for indicating that embodiments of the present invention 1 are related to
Figure, Fig. 1 (B) is its longitudinal sectional view, and Fig. 1 (C) is its end view drawing.
Fig. 2 (A) is the explanatory diagram for indicating the internal-gear of Fig. 1, and Fig. 2 (B) is to indicate nibbling for external tooth gear and internal-gear
Close the explanatory diagram of part.
Fig. 3 is another explanatory diagram for indicating the internal-gear of Fig. 1.
Fig. 4 (A) is another explanatory diagram for indicating the external tooth gear of Fig. 1, and Fig. 4 (B) is to indicate external tooth gear and internal tooth
The explanatory diagram of the engaging portion of gear.
Fig. 5 (A) is half longitudinal direction of an example of the cup type Wave gear device for indicating that embodiments of the present invention 2 are related to
Cross-sectional view, Fig. 5 (B) are the explanatory diagrams for indicating an example of its external tooth gear.
Fig. 6 is another explanatory diagram for indicating the external tooth gear of Fig. 5.
Fig. 7 (A) is the explanation of an example of the cup type Wave gear device for indicating that embodiments of the present invention 3 are related to
Figure, Fig. 7 (B) is the explanatory diagram for indicating an example of its external tooth gear
Specific embodiment
Hereinafter, being illustrated referring to attached drawing to the embodiment for applying Wave gear device of the invention.
[embodiment 1]
Fig. 1 (A) is the perspective view for indicating to apply an example of cup type Wave gear device of the invention, and Fig. 1 (B) is
Its longitudinal sectional view, Fig. 1 (C) are its end view drawings.Wave gear device 1 includes the internal-gear 2 of circular rigidity；Installation
In the external tooth gear 3 of the cup-shaped of 2 inside of internal-gear；And it is embedded in the ellipticity profile of 3 inside of external tooth gear
Wavegenerator 4.Internal-gear 2 and external tooth gear 3 are the straight spur gears that can be engaged with each other.
External tooth gear 3 has the cylindrical body portion 31 that can be bent in the radial direction.Circular diaphragm 32 is from circle
One end of cylindrical body part 31 extends towards the inside of radial direction.Annular shape is integrally formed in the inner peripheral of diaphragm 32
The boss 33 of rigidity.External tooth 34 is formed in the outer peripheral surface part of the other end in cylindrical body portion 31.
Wavegenerator 4 has cylindric wheel hub 41, sliding cross coupling 42, rigid plug 43 and fluctuation bearing
44.Wheel hub 41 is coaxially fixedly linked on the Rotating input shafts such as motor drive shaft (not shown).Rigid plug 43 is by crosshead shoe
Shaft coupling 42 and the outer peripheral surface for being installed on wheel hub 41.Fluctuation bearing 44 is installed on the ellipticity outer peripheral surface and external tooth of rigid plug 43
The formation of gear 3 has between the inner peripheral surface part in the cylindrical body portion 31 of external tooth 34.The fluctuation bearing 44 of this example be have it is soft
The outer ring of property and the ball bearing of inner ring flexible.
The formation of external tooth gear 3 has the part of external tooth 34 to bend ovalisation because of wavegenerator 4.As a result, in external tooth
On the circumferencial direction of gear 3, it is formed in the longitudinal axis L 1 of ellipse and its multiple external tooths 34 and internal-gear 2 of two sides
The engaging portion 5 that each internal tooth 21 engages.When wavegenerator 4 rotates, the engaging portion 5 of two gears 2,3 is in circumferencial direction
Upper movement.In the case where this example, the teeth number difference of two gears 2,3 is 2n (n is positive integer).For example, internal-gear 2 is fixed as
It does not rotate, is rotated in deceleration from the output of external tooth gear 3.
Fig. 2 (A) is the explanatory diagram for indicating internal-gear 2, and Fig. 2 (B) is to indicate engaging for internal-gear 2 and external tooth gear 3
The explanatory diagram of part 5.
The internal tooth 21 of internal-gear 2 has the trench portions 21a of not formed internal tooth in the center portion of its trace direction.?
The two sides of circumferentially extending trench portions 21a, towards circumferencial direction with certain spacing be formed with inner toothed portion 21b,
21c.For example, the trench bottom surfaces of the trench portions 21a of not formed internal tooth are circular inner periphery face, the inner toothed portion of outer diameter and two sides
The bottom of the tooth circular diameter of 21b, 21c are identical.It is advised by inclined surface part from inner toothed portion 21b to the trench bottom surfaces of trench portions 21a
Fixed, which is made of plane or curved surface, and the tooth height of inner toothed portion 21b is gradually reduced.From another inner toothed portion 21c to groove
The part of the trench bottom surfaces of part 21a is also provided that the inclined surface is made of plane or curved surface by inclined surface, inner toothed portion 21c's
Tooth height is gradually reduced.
Trench portions 21a is the area of the defined width including the support center 45 comprising fluctuation bearing 44 in trace direction
Domain.Support center 45 is the ball center for fluctuating bearing 44.For example, support center 45 is located in the effective facewidth of external tooth 34
The heart.
In engaging portion 5, as shown in Fig. 2 (B), in the center portion of the trace direction of external tooth 34, due to trench portions 21a
It is formed with the non-mesh regional 6 not engaged with internal tooth 21.The power of radial direction acts on the tooth of external tooth 34 from fluctuation 44 side of bearing
The center portion in line direction.The center portion of the trace direction of external tooth 34 is opposed with the trench portions 21a of internal tooth 21, does not act on
There is the power on the radial direction generated due to engaging with internal tooth 21.In the bottom of the tooth of external tooth 34, in the center portion of its trace direction
Generated stress concentration is mitigated, and therefore, can be improved the bottom of the tooth fatigue strength of external tooth gear 3.
(another example of internal-gear)
Fig. 3 is another explanatory diagram for indicating internal-gear 2.The internal tooth 22 of internal-gear 2A shown in the figure is in its tooth
The center portion in line direction, which has been carried out, cuts end processing.The end processing part 22a that cuts of internal tooth 22 is to be not formed into nibble with external tooth 34
The part of the meshing state of conjunction.The part of the two sides for cutting end processing part 22a of internal tooth 22 is the interior teeth portion engaged with external tooth 34
Divide 22b, 22c.End processing part 22a is being cut, for internal tooth 22 so that the size in the high direction of its tooth or transverse tooth thickness direction reduced
Mode, which implements, cuts end processing.
In the engaging portion 5 of the Wave gear device 1 with internal-gear 2A, the center portion of the trace direction of external tooth 34
Hold processing part 22a opposed with cutting for internal tooth 22.It is formed with to be not formed into because cutting end processing part 22a and be engaged with internal tooth 22
The non-mesh regional 6 of meshing state.Therefore, with using internal-gear 2 the case where, is identical, enables in the tooth trace side of external tooth 34
To center portion bottom of the tooth generate stress concentrate mitigate, so as to improve the bottom of the tooth fatigue strength of external tooth gear 3.
(another example of external tooth gear)
Fig. 4 (A) is another explanatory diagram for indicating external tooth gear 3, and Fig. 4 (B) is to indicate external tooth gear and internal-gear
Engaging portion explanatory diagram.These external tooth gear 3A shown in the drawings can be used for Fig. 1, internal-gear shown in Fig. 22
Wave gear device 1.
The external tooth 35 of external tooth gear 3A has edge in the part opposed with the trench portions 21a of internal tooth 21 of internal-gear 2
The rib 35a for the trapezoid cross section that circumferencial direction extends.In the two sides of rib 35a, be formed with can in the internal tooth 21 of internal-gear 2
External tooth part 35b, 35c of toothed portion 21b, 21c engagement.Bottom of the tooth flange thickness of the thickness of rib 35a than external tooth part 35b, 35c
Greatly.For example, the outer diameter of rib 35a is identical as the tip diameter of external tooth part 35b, 35c, rib 35a is not formed external tooth part
The tooth socket of 35b, 35c and the part retained with the thicker state of thickness.
For external tooth gear 3A, the center portion of trace direction corresponding with the support center 45 of fluctuation bearing 44 is thickness
Thicker rib 35a.Therefore, the stress caused by the bottom of the tooth of the center portion of the trace direction of external tooth 35 is enabled to concentrate slow
With so as to improve the bottom of the tooth fatigue strength of external tooth gear 3A.
[embodiment 2]
Fig. 5 (A) is another half longitudinal sectional view for indicating to apply cup type Wave gear device of the invention, Fig. 5
It (B) is the explanatory diagram for indicating the external tooth gear of cup-shaped.The basic structure of Wave gear device 1B and cup type fluctuation tooth shown in FIG. 1
Wheel apparatus 1 is identical.The internal-gear 2B of the Wave gear device 1B of this example has the continuous internal tooth 23 in trace direction.Cup-shaped
External tooth gear 3B have trace direction center portion disconnect external tooth 36.The structure of wavegenerator 4B and above-mentioned fluctuation
Generator 4 is identical.
The external tooth 36 of external tooth gear 3B is after there is the center portion of trace direction not formed external tooth or external tooth to remove
Trench portions 36a.In the two sides of the trace direction of trench portions 36a, external tooth is formed with certain spacing towards circumferencial direction
Part 36b, 36c.For example, trench portions 36a is certain thickness cylindrical portions.The trench bottom surfaces of trench portions 36a are carried out
The outer diameter in defined circular circumference face is identical as the bottom of the tooth circular diameter of external tooth part 36b, 36c of two sides.From external tooth part 36b to
The part of trench bottom surfaces is provided that the inclined surface is made of plane or curved surface by inclined surface, and the tooth height of external tooth part 36b gradually subtracts
It is small.It is also provided by inclined surface from another external tooth part 36c to the part of trench bottom surfaces, which is made of plane or curved surface,
The tooth height of external tooth part 36c is gradually reduced.
The trench portions 36a of not formed external tooth be in trace direction comprising fluctuation bearing 44 support center 45 including
The region of defined width.Support center 45 is the ball center for fluctuating bearing 44.For example, support center 45 is located at having for external tooth 36
Imitate the center of the facewidth.
In engaging portion 5B (part on the long axis of the external tooth gear 3B of flexure ovalisation), because of the groove of external tooth 36
Divide 36a and is formed with the non-mesh regional for being not formed into the meshing state engaged with internal tooth 23 in the center portion of trace direction
6B.Non- mesh regional 6B is the region of the defined width including the support center 45 comprising fluctuation bearing 44 in trace direction.
The stress concentration of the part (center portion of trace direction) of the bottom of the tooth corresponding with support center 45 of external tooth 36 is mitigated, because
This can be improved the bottom of the tooth fatigue strength of external tooth gear 3B.
(another example of external tooth gear)
Fig. 6 is another explanatory diagram for indicating external tooth gear 3B.The tooth of the external tooth 37 of external tooth gear 3C shown in the figure
The center portion in line direction, which has been carried out, cuts end processing.The end processing part 37a that cuts of external tooth 37 is to be not formed into nibble with internal tooth 23
The part of the meshing state of conjunction.The part of the two sides for cutting end processing part 37a of external tooth 37 is the outer toothed portion engaged with internal tooth 23
Divide 37b, 37c.End processing part 37a is being cut, for external tooth 37 so that the size in the high direction of its tooth or transverse tooth thickness direction reduced
Mode, which implements, cuts end processing.
In the engaging portion 5B of the Wave gear device 1B with external tooth gear 3C, in the center of the trace direction of external tooth 37
Part is formed with the non-mesh regional 6B for being not formed into the meshing state engaged with internal tooth 23.Therefore, and using external tooth gear
The case where 3B, is identical, enables to the stress caused by the bottom of the tooth of the center portion of the trace direction of external tooth 37 to concentrate and mitigates,
So as to improve the bottom of the tooth fatigue strength of external tooth gear 3C.
[embodiment 3]
Above embodiment is to use the case where straight spur gear is as internal-gear and external tooth gear.As internal tooth tooth
Wheel and external tooth gear, can also use helical gear.In applying the Wave gear device that embodiments of the present invention 3 are related to,
Internal-gear and external tooth gear use helical gear.Fig. 7 (A) be with along tooth trace to the Wave gear device of embodiment 3 two
The engaging portion of a gear carries out the state of cutting and the explanatory diagram that shows.Fig. 7 (B) is to indicate that the external tooth gear of its cup-shaped is said
Bright figure.
The basic structure of Wave gear device 1D is identical as cup type Wave gear device 1 shown in FIG. 1.The fluctuation tooth of this example
The internal-gear 2D of wheel apparatus 1D is helical gear, and with internal tooth 24, which has defined torsion angle, torsional direction
Tooth trace.Cup-shaped external tooth gear 3D is also helical gear, and with external tooth 38, which has torsion identical with internal-gear 2D
Angle, torsional direction tooth trace.External tooth 38 in this example is disconnected in the center portion of trace direction.The structure of wavegenerator 4D with
Above-mentioned wavegenerator 4 is identical.
The external tooth 38 of external tooth gear 3D in the center portion of trace direction there is trench portions 38a, trench portions 38a to be
Not formed external tooth eliminates the part after external tooth.In the two sides of the trace direction of trench portions 38a, towards circumferencial direction with
Certain spacing is formed with external tooth part 38b, 38c.External tooth part 38b, 38c of two sides are the identical outer toothed portions of trace direction
Point.Therefore, external tooth gear 3D is the helical gear that tooth trace is a kind (only with the helical gear of the identical tooth of tooth trace).For example, groove
Dividing 38a is certain thickness cylindrical portions.To the trench bottom surfaces of trench portions 38a carry out as defined in circular circumference face outer diameter with
The bottom of the tooth circular diameter of external tooth part 38b, 38c of two sides are identical.It is advised by inclined surface part from external tooth part 38b to trench bottom surfaces
Fixed, which is made of plane or curved surface, and the tooth height of external tooth part 38b is gradually reduced.From another external tooth part 38c to groove
The part of bottom surface is also provided that the inclined surface is made of plane or curved surface by inclined surface, and the tooth height of external tooth part 38c is gradually reduced.
The trench portions 38a of not formed external tooth be in trace direction comprising fluctuation bearing 44 support center 45 including
The region of defined width.Support center 45 is the ball center for fluctuating bearing 44.For example, support center 45 is located at having for external tooth 38
Imitate the center of the facewidth.
In engaging portion 5D (part on the long axis of the external tooth gear 3D of flexure ovalisation), because of the groove of external tooth 38
Divide 38a and is formed with the non-mesh regional by being not formed into the meshing state engaged with internal tooth 24 in the center portion of trace direction
6D.Non- mesh regional 6D is the region of the defined width including the support center 45 comprising fluctuation bearing 44 in trace direction.
The stress concentration of the part (center portion of trace direction) of the bottom of the tooth corresponding with support center 45 of external tooth 38 is mitigated, because
This can be improved the bottom of the tooth fatigue strength of external tooth gear 3D.
In addition it is also possible to external tooth gear 3D external tooth 38 formed implement cut end processing part to form groove to replace
Part 38a.Furthermore it is possible to which the internal tooth 24 in internal-gear 2D forms the trench portions of not formed internal tooth, groove can also be replaced
Partially form the part for implementing and cutting end processing.
[other embodiments]
Above embodiment is the case where applying the present invention to have the Wave gear device of the external tooth gear of cup-shaped.This
Invention equally also can be applied to the Wave gear device with the external tooth gear of carnival hat shape and with cylindric external tooth tooth
The Wave gear device of wheel.
Claims (6)
1. a kind of Wave gear device, which is characterized in that
The Wave gear device includes
The internal-gear of rigidity；
External tooth gear flexible；
Wavegenerator bends the external tooth gear and the isolated position on its circumferencial direction in the radial direction
Place is formed with the engaging portion relative to the internal-gear, and the engaging portion is moved on the circumferencial direction；With
And
Non- mesh regional is formed in a part in its trace direction in the engaging portion；
The internal-gear and the external tooth gear are straight spur gear or the internal-gear and the external tooth tooth respectively
Wheel is the helical gear that tooth trace is a kind respectively,
The wavegenerator has the fluctuation bearing being supported from the inside of radial direction to the external tooth gear,
The non-mesh regional is the support center in the trace direction comprising the fluctuation bearing to the external tooth gear
The region of defined width inside.
2. Wave gear device according to claim 1, which is characterized in that
The non-mesh regional is provided in the trace direction by the part of the not formed internal tooth of the internal-gear.
3. Wave gear device according to claim 2, which is characterized in that
The external tooth gear includes
In the rib that the position opposed with the part of the not formed internal tooth is formed；And
The external tooth of the two sides of the rib is formed in the trace direction,
The thickness of the rib is bigger than the thickness of the bottom of the tooth wheel rim of the external tooth.
4. Wave gear device according to claim 1, which is characterized in that
The non-mesh regional in the trace direction by for the internal-gear internal tooth so that the high size of tooth or
The mode that transverse tooth thickness size reduces, which implements to cut, holds cutting for processing to hold processing department divider fixed.
5. Wave gear device according to claim 1, which is characterized in that
The non-mesh regional is provided in the trace direction by the part of the not formed external tooth of the external tooth gear.
6. Wave gear device according to claim 1, which is characterized in that
The non-mesh regional in the trace direction by for the external tooth gear external tooth so that the high size of tooth or
The mode that transverse tooth thickness size reduces, which implements to cut, holds cutting for processing to hold processing department divider fixed.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2017/002038 WO2018134986A1 (en) | 2017-01-21 | 2017-01-21 | Wave gear device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110177958A true CN110177958A (en) | 2019-08-27 |
Family
ID=62908632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780083245.7A Pending CN110177958A (en) | 2017-01-21 | 2017-01-21 | Wave gear device |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US11143283B2 (en) |
| EP (1) | EP3572691B1 (en) |
| JP (1) | JP6746251B2 (en) |
| KR (1) | KR102225568B1 (en) |
| CN (1) | CN110177958A (en) |
| RU (1) | RU2728990C1 (en) |
| TW (1) | TWI738892B (en) |
| WO (1) | WO2018134986A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2022065726A (en) * | 2020-10-16 | 2022-04-28 | 霊智信息服務（深▲セン▼）有限公司 | Wave gear device and actuator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0113375A1 (en) * | 1982-06-18 | 1984-07-18 | Matsushita Electric Industrial Co., Ltd. | Reduction gear |
| CN102472366A (en) * | 2009-07-02 | 2012-05-23 | 谐波传动***有限公司 | Noncircular bearing, wave generator, and wave gear device |
| DE102011004075A1 (en) * | 2011-02-14 | 2012-08-16 | Schaeffler Technologies Gmbh & Co. Kg | Wave gear with lateral guidance of the spur gear |
| CN105074272A (en) * | 2013-03-27 | 2015-11-18 | 株式会社三共制作所 | Strain wave gearing device |
| WO2016021011A1 (en) * | 2014-08-06 | 2016-02-11 | 株式会社ハーモニック・ドライブ・システムズ | Flat wave gearing |
| CN105358871A (en) * | 2013-07-01 | 2016-02-24 | 谐波传动***有限公司 | Strain wave gear device |
| CN105402324A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Gear device |
| US20170009868A1 (en) * | 2015-05-29 | 2017-01-12 | Harmonic Drive Systems Inc. | Flat strain wave gearing |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6296148U (en) * | 1985-12-05 | 1987-06-19 | ||
| FI873139A (en) * | 1987-07-15 | 1989-01-16 | Antti Mikael Poro | VAEXELSAMMANSAETTNING. |
| JP2503027B2 (en) * | 1987-09-21 | 1996-06-05 | 株式会社ハーモニック・ドライブ・システムズ | Flexible mesh gear |
| JPH01108441A (en) * | 1987-10-20 | 1989-04-25 | Sumitomo Heavy Ind Ltd | Differential gear mechanism |
| DE3738521C1 (en) * | 1987-11-13 | 1988-12-01 | Delta Getriebe Gmbh | Planetary gear |
| JP3403318B2 (en) | 1997-06-19 | 2003-05-06 | 日本電信電話株式会社 | Mode-locked semiconductor laser device |
| DE102004009128A1 (en) * | 2004-02-25 | 2005-09-15 | Ina-Schaeffler Kg | Electric camshaft adjuster |
| US7854995B1 (en) * | 2004-07-14 | 2010-12-21 | Keystone Investment Corporation | High density dual helical gear |
| JP4999475B2 (en) * | 2007-01-24 | 2012-08-15 | 株式会社ハーモニック・ドライブ・システムズ | Flat wave gear device |
| JP4948479B2 (en) * | 2008-06-26 | 2012-06-06 | 株式会社ハーモニック・ドライブ・システムズ | Compound wave gear reducer |
| JP2010190373A (en) | 2009-02-20 | 2010-09-02 | Harmonic Drive Syst Ind Co Ltd | Wave gear device |
| RU2405993C1 (en) * | 2009-06-04 | 2010-12-10 | Государственное образовательное учреждение высшего профессионального образования Московский государственный институт электронной техники (технический университет) | Wave gear drive |
| JP5256249B2 (en) * | 2010-06-18 | 2013-08-07 | 住友重機械工業株式会社 | Bending gear system |
| JP2016196895A (en) * | 2014-02-06 | 2016-11-24 | 株式会社ハーモニック・ドライブ・システムズ | Flat-type wave gear device |
| JP6282340B2 (en) * | 2014-05-08 | 2018-02-21 | 株式会社ハーモニック・ドライブ・システムズ | Wave generator for wave gear device and method for manufacturing wave generator |
| CN105422747A (en) * | 2015-11-30 | 2016-03-23 | 綦江精锐达重型齿轮有限公司 | Dual-gear transmission device |
-
2017
- 2017-01-21 RU RU2019121329A patent/RU2728990C1/en active
- 2017-01-21 US US16/473,820 patent/US11143283B2/en active Active
- 2017-01-21 WO PCT/JP2017/002038 patent/WO2018134986A1/en active Application Filing
- 2017-01-21 CN CN201780083245.7A patent/CN110177958A/en active Pending
- 2017-01-21 JP JP2018562841A patent/JP6746251B2/en active Active
- 2017-01-21 EP EP17892345.4A patent/EP3572691B1/en active Active
- 2017-01-21 KR KR1020197021879A patent/KR102225568B1/en active IP Right Grant
- 2017-10-18 TW TW106135599A patent/TWI738892B/en active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0113375A1 (en) * | 1982-06-18 | 1984-07-18 | Matsushita Electric Industrial Co., Ltd. | Reduction gear |
| CN102472366A (en) * | 2009-07-02 | 2012-05-23 | 谐波传动***有限公司 | Noncircular bearing, wave generator, and wave gear device |
| DE102011004075A1 (en) * | 2011-02-14 | 2012-08-16 | Schaeffler Technologies Gmbh & Co. Kg | Wave gear with lateral guidance of the spur gear |
| CN105074272A (en) * | 2013-03-27 | 2015-11-18 | 株式会社三共制作所 | Strain wave gearing device |
| CN105358871A (en) * | 2013-07-01 | 2016-02-24 | 谐波传动***有限公司 | Strain wave gear device |
| WO2016021011A1 (en) * | 2014-08-06 | 2016-02-11 | 株式会社ハーモニック・ドライブ・システムズ | Flat wave gearing |
| US20170009868A1 (en) * | 2015-05-29 | 2017-01-12 | Harmonic Drive Systems Inc. | Flat strain wave gearing |
| CN105402324A (en) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | Gear device |
Also Published As
| Publication number | Publication date |
|---|---|
| US20210131543A1 (en) | 2021-05-06 |
| TW201827728A (en) | 2018-08-01 |
| RU2728990C1 (en) | 2020-08-03 |
| EP3572691A4 (en) | 2020-06-10 |
| TWI738892B (en) | 2021-09-11 |
| EP3572691A1 (en) | 2019-11-27 |
| EP3572691B1 (en) | 2021-08-11 |
| US11143283B2 (en) | 2021-10-12 |
| JP6746251B2 (en) | 2020-08-26 |
| JPWO2018134986A1 (en) | 2019-11-07 |
| KR102225568B1 (en) | 2021-03-08 |
| WO2018134986A1 (en) | 2018-07-26 |
| KR20190102230A (en) | 2019-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101390439B1 (en) | Wave gear device and flexible externally toothed gear | |
| JP5275150B2 (en) | Wave gear device | |
| CN107044527B (en) | Cup-shaped flexible external gear and cup-type wave gear device | |
| US9476494B2 (en) | Flexible externally toothed gear for wave gear device | |
| KR101971981B1 (en) | Flexible external gear and strain wave gearing device | |
| JP6017066B2 (en) | Wave gear device having continuous contact tooth profile formed using arc tooth profile | |
| JP4248334B2 (en) | Wave gear device | |
| JP4685383B2 (en) | Wave gear device | |
| RU2668455C2 (en) | Dual harmonic gear drive | |
| CN107614929B (en) | Flat Wave gear device | |
| KR102133443B1 (en) | Harmonic reducer | |
| KR20170019455A (en) | Flat wave gearing | |
| TWI620882B (en) | Dual type strain wave gearing | |
| JP6067183B2 (en) | Negative deviation wave gear device of overtaking type meshing | |
| KR101918011B1 (en) | Dual-type wave gear device | |
| CN110177958A (en) | Wave gear device | |
| JPWO2019220515A1 (en) | Strain wave gearing | |
| JP6040608B2 (en) | Wave gear device | |
| TWI551791B (en) | Harmonic generator and harmonic gear device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190827 |
|
| RJ01 | Rejection of invention patent application after publication |